Intersection guide line generation method and device, electronic equipment and storage medium

Abstract

The invention provides an intersection guide line generation method and device, electronic equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the steps of obtaining a vehicle driving track in a target area to which a target intersection belongs; determining a first section of track and a second section of track in the vehicle driving track; determining a target control point according to the first section of track and the second section of track; and generating a guide line corresponding to the target intersection based on the target control point. Therefore, the target control point used for generating the guide line can be determined according to the driving track when the vehicle passes through the target intersection, and then the guide line corresponding to the target intersection is automatically generated based on the target control point, manual participation is not needed, the labor cost is saved, and the efficiency of generating the guide line is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of autonomous driving technology, and in particular to a method, device, electronic device and storage medium for generating intersection guide lines. Background Art

[0002] In recent years, crowdsourcing technology has gradually shown its advantages in map data collection. Crowdsourcing technology can collect relevant data through sensors carried by vehicles (including but not limited to IMU, wheel speed meter, camera, etc.), and then generate information about intersections or roads through crowdsourcing mapping algorithms on the vehicle side and the cloud.

[0003] However, crowdsourcing technology only focuses on the production of map element information (including lane lines, lane center lines, ground signs, zebra crossings). The road topology information at intersections (such as guide lines, etc.) often has no perceptible map elements to mark, and often requires manual drawing on the crowdsourcing map. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a method, device, electronic device and storage medium for generating intersection guide lines.

[0005] According to a first aspect of an embodiment of the present disclosure, a method for generating an intersection guide line is provided, comprising:

[0006] Obtain the vehicle driving trajectory within the target area of ​​the target intersection;

[0007] Determine a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is a trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is a trajectory after the vehicle exits the target intersection;

[0008] Determine a target control point according to the first trajectory and the second trajectory;

[0009] Based on the target control point, a guide line corresponding to the target intersection is generated.

[0010] According to a second aspect of an embodiment of the present disclosure, there is provided a device for generating a guide line at an intersection, comprising:

[0011] An acquisition module is used to acquire the vehicle driving trajectory within the target area of ​​the target intersection;

[0012] A first determination module is used to determine a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is the vehicle's trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is the vehicle's trajectory after the vehicle exits the target intersection;

[0013] A second determination module, used for determining a target control point according to the first track segment and the second track segment;

[0014] A generation module is used to generate a guide line corresponding to the target intersection based on the target control point.

[0015] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to: implement the steps of a method for generating intersection guide lines as proposed in the embodiment of the first aspect of the present disclosure.

[0016] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor, the steps of the method for generating intersection guide lines proposed in the embodiment of the first aspect of the present disclosure are implemented.

[0017] The fifth aspect of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the method for generating intersection guide lines as proposed in the first aspect of the present disclosure.

[0018] The sixth aspect embodiment of the present disclosure provides a chip system, including a processing unit and an interface circuit, wherein the processing unit obtains program instructions through the interface circuit, and the program instructions are executed by the processing unit, and the processing unit is used to execute the method for generating intersection guide lines proposed in the first aspect embodiment of the present disclosure.

[0019] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0020] In the disclosed embodiment, the vehicle driving trajectory in the target area to which the target intersection belongs is obtained, and then the first segment of the vehicle driving trajectory and the second segment of the vehicle driving trajectory are determined, and then the target control point is determined according to the first segment of the trajectory and the second segment of the trajectory, and finally the guide line corresponding to the target intersection is generated based on the target control point. Thus, the target control point for generating the guide line can be determined according to the driving trajectory of the vehicle when passing through the target intersection, and then the guide line corresponding to the target intersection is automatically generated based on the target control point, without manual participation, saving labor costs and improving the efficiency of generating the guide line.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure:

[0023] Figure 1 is a flowchart of a method for generating a guide line for an intersection according to some embodiments of the present disclosure;

[0024] Figure 2 A schematic diagram of a vehicle driving trajectory shown in an embodiment of the present disclosure;

[0025] Figure 3 is a flow chart of a method for generating a guide line for an intersection according to some embodiments of the present disclosure;

[0026] Figure 4 A schematic diagram of a vehicle driving trajectory shown in some embodiments of the present disclosure;

[0027] Figure 5 A schematic diagram of another vehicle driving trajectory shown in some embodiments of the present disclosure;

[0028] Figure 6 A schematic diagram of another vehicle driving trajectory shown in some embodiments of the present disclosure;

[0029] Figure 7 A schematic diagram of another target coordinate point shown in some embodiments of the present disclosure;

[0030] Figure 8 A schematic diagram of another target coordinate point shown in some embodiments of the present disclosure;

[0031] Fig. 9 A schematic diagram of another target coordinate point shown in some embodiments of the present disclosure;

[0032] Fig.10 A schematic diagram of a road topology diagram is shown for some embodiments of the present disclosure;

[0033] Fig.11 is a block diagram of a device for generating a guide line at an intersection according to some embodiments of the present disclosure;

[0034] Fig.12 A block diagram of an exemplary electronic device suitable for implementing the embodiments of the present disclosure is shown;

[0035] Fig.13 It is a schematic diagram of the structure of the chip proposed in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] Some embodiments of the present disclosure will be described in detail here, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications and equivalents of the methods, devices and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those orders set forth herein, but can be changed as becomes apparent after understanding the present disclosure, except for operations that must be performed in a specific order. In addition, for clarity and brevity, descriptions of features known in the art may be omitted.

[0037] The embodiments described in some embodiments of the present disclosure below do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0038] Figure 1 It is a flow chart of a method for generating a guide line for an intersection according to some embodiments of the present disclosure. It should be noted that the method for generating a guide line for an intersection in this embodiment can be applied to a device for generating a guide line for an intersection. In some possible embodiments, the device can be configured in an electronic device or a chip so that the electronic device or the chip can perform the function of generating a guide line for an intersection.

[0039] like Figure 1 As shown, the method for generating intersection guide lines is used in a terminal, and includes the following steps:

[0040] Step 101, obtaining vehicle driving trajectories within a target area belonging to a target intersection.

[0041] The target intersection may be an intersection for which a guide line is to be generated.

[0042] The target area may be an area within a first distance around the target intersection, wherein the first distance may be 20 meters, 30 meters, etc. This disclosure does not limit this.

[0043] There may be one or more vehicle driving trajectories within the target area, and this disclosure does not limit this.

[0044] In some embodiments, historical driving trajectories of multiple vehicles in the target area may be first obtained, and then the multiple historical driving trajectories may be clustered to obtain at least one cluster, wherein each historical driving trajectory in the cluster is located in the same lane; the historical driving trajectories in each cluster are fused to obtain the vehicle driving trajectory corresponding to each cluster.

[0045] In some embodiments, a connected line clustering algorithm may be used to cluster multiple historical driving trajectories.

[0046] In some embodiments, an unclustered historical driving trajectory may be first selected as a seed trajectory in a cluster, and the first target distance between the trajectory point in each unclustered historical driving trajectory and the seed trajectory may be calculated. According to the first target distance, the historical driving trajectory that can be added to the cluster where the seed trajectory is located is determined, and the historical driving trajectory added to the cluster is marked as clustered. Furthermore, each historical driving trajectory in the cluster may be determined as a new seed trajectory in turn, and the second target distance between the trajectory point in each unclustered historical driving trajectory and the new seed trajectory may be calculated. According to the first target distance, the historical driving trajectory that can be added to the cluster where the new seed trajectory is located is determined, and the historical driving trajectory added to the cluster is marked as clustered.

[0047] In some embodiments, when the ratio of the number of trajectory points whose first target distance is less than the second distance to the total number of trajectory points in the historical driving trajectory is greater than a preset ratio, it is determined that the historical driving trajectory can be added to the cluster where the seed trajectory is located.

[0048] In some embodiments, a polynomial curve fitting method may be used, or corresponding trajectory points in a plurality of historical driving trajectories may be averaged to achieve fusion of the historical driving trajectories in each cluster.

[0049] In some embodiments, when at least one historical driving trajectory in a cluster is in the shape of a curve, each historical driving trajectory is divided into a first driving trajectory and a second driving trajectory based on the inflection point of each historical driving trajectory, wherein the first driving trajectory includes the trajectory of the vehicle entering the target intersection, and the second driving trajectory includes the trajectory of the vehicle leaving the target intersection, the first driving trajectory in each historical driving trajectory is fused to obtain a first fused trajectory, the second driving trajectory in each historical driving trajectory is fused to obtain a second fused trajectory, and the first fused trajectory and the second fused trajectory are spliced ​​to obtain the vehicle driving trajectory corresponding to the cluster. Thus, the historical driving trajectories in the shape of curves can be more accurately fused to reduce the curvature of the vehicle driving trajectory.

[0050] In some embodiments, the most standard driving trajectory among the multiple historical driving trajectories of the cluster may also be determined as the vehicle driving trajectory.

[0051] Step 102, determining a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is the trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is the trajectory after the vehicle exits the target intersection.

[0052] The first trajectory may be a trajectory of a vehicle traveling in a first lane of a first road section.

[0053] The first road section may be the road section where the vehicle is located before entering the target intersection. In some embodiments, the first road section may also be referred to as the road section where the vehicle exits, and may be recorded as src_link.

[0054] The first lane may be the lane where the vehicle is located before entering the target intersection. In some embodiments, the first lane may also be referred to as the lane from which the vehicle exits.

[0055] The second trajectory may be a trajectory of the vehicle traveling in the second lane of the second road section.

[0056] The second road section may be the road section where the vehicle is located before exiting the target intersection. In some embodiments, the second road section may also be referred to as the road section where the vehicle enters, and may be recorded as dst_link.

[0057] The second lane may be the lane where the vehicle is located before entering the target intersection. In some embodiments, the second lane may also be referred to as the lane into which the vehicle enters.

[0058] Figure 2 Schematic diagram of a vehicle driving trajectory shown in an embodiment of the present disclosure; Figure 2 As shown, it is the vehicle driving trajectory in the vehicle U-turn scenario, the first trajectory is the trajectory on the first road section, and the second trajectory is the trajectory on the second road section.

[0059] Step 103, determining the target control point according to the first trajectory and the second trajectory.

[0060] In some embodiments, some guide line samples corresponding to sample intersections may be manually drawn first, and then the manually drawn guide lines are used as Bezier curves to determine their sample control points, and then the target relationship between the sample control points and the first segment trajectory samples and the first segment trajectory samples corresponding to the guide line samples is statistically determined. Finally, after determining the first segment trajectory and the second segment trajectory of the guide line to be generated, the target control point may be determined based on the target relationship.

[0061] In some embodiments, the first lane centerline corresponding to the first segment of the trajectory and the second lane centerline corresponding to the second segment of the trajectory can be determined, and then the target control point is determined based on the first lane centerline, the second lane centerline, the first segment of the trajectory, and the second segment of the trajectory. Thus, the target control point can be determined based on the driving trajectory of the vehicle when passing the target intersection and the relationship between the driving trajectory and the lane centerline in the target area, and then the guide line between the lanes is automatically generated without manual participation, saving labor costs and improving the efficiency of generating guide lines.

[0062] The first lane centerline is the centerline of the first lane where the first track segment is located. In some embodiments, the first lane centerline corresponding to the first lane can be recorded as src_lane.

[0063] The second lane centerline is the centerline of the second lane corresponding to the second track segment. In some embodiments, the second lane centerline corresponding to the second lane can be recorded as dst_lane.

[0064] In some embodiments, a target map corresponding to the target area is obtained, wherein the target map includes each road section and the lane centerline corresponding to each lane in each road section, and then the first road section corresponding to the first track section is determined according to the first position and first direction corresponding to the first track section, and the second position and second direction corresponding to each road section, and the second road section corresponding to the second track section is determined according to the third position and third direction corresponding to the second track section, and the second position and second direction corresponding to each road section, and the lane centerline with the smallest distance from the first track section in the first road section is determined as the first lane centerline, and the lane centerline with the smallest distance from the second track section in the second road section is determined as the second lane centerline. Thus, the first road section where the first track section is located is screened out through the position and direction of the first track section, and the second road section where the second track section is located is screened out through the position and direction of the second track section, so that the first lane centerline and the second lane centerline can be quickly determined.

[0065] In some embodiments, vehicle-side mapping results of a target area sent by multiple vehicles are received, and the multiple vehicle-side mapping results are fused to obtain a target map.

[0066] It should be noted that in the embodiment of the present disclosure, a guide line between the first lane and the second lane can be generated based on a Bezier curve. Therefore, it is necessary to first determine the target control point of the Bezier curve, and then generate the guide line based on the Bezier curve formula.

[0067] In some embodiments, a third-order Bezier curve may be used to generate the guide line, or a second-order Bezier curve may be used to generate the guide line, which is not limited in the present disclosure.

[0068] In some embodiments, some guide line samples corresponding to sample intersections may be manually drawn first, and then the manually drawn guide lines are used as Bezier curves to determine their sample control points, and then the target relationship between the sample control points and the first lane centerline samples, the second lane centerline samples, and the vehicle driving trajectory samples corresponding to the guide line samples is statistically determined. Finally, after determining the first lane centerline, the second lane centerline, and the first and second segments of the guide line to be generated, the target control points may be determined based on the target relationship.

[0069] Step 104: Generate a guide line corresponding to the target intersection based on the target control point.

[0070] In the disclosed embodiment, after the target control point is determined, a guide line between the first lane where the first track segment is located and the second lane where the second track segment is located may be generated according to the Bezier curve formula and the target control point.

[0071] In the disclosed embodiment, the vehicle driving trajectory in the target area to which the target intersection belongs is obtained, and then the first segment and the second segment of the vehicle driving trajectory are determined, and then the target control point is determined according to the first segment and the second segment, and finally the guide line corresponding to the target intersection is generated based on the target control point. Thus, the target control point for generating the guide line can be determined according to the driving trajectory of the vehicle when passing through the target intersection, and then the guide line corresponding to the target intersection is automatically generated based on the target control point and the Bezier curve, without manual participation, saving labor costs and improving the efficiency of generating the guide line.

[0072] Figure 3 is a flow chart of a method for generating a guide line for an intersection according to some embodiments of the present disclosure. Figure 3 As shown, the following steps are included:

[0073] Step 301, obtaining vehicle driving trajectories within a target area to which a target intersection belongs.

[0074] Step 302, determining a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is the trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is the trajectory after the vehicle exits the target intersection.

[0075] Step 303, determining a first lane centerline corresponding to the first trajectory segment and a second lane centerline corresponding to the second trajectory segment.

[0076] The specific implementation forms of steps 301 to 303 may refer to the detailed descriptions in other embodiments of the present disclosure and will not be described in detail here.

[0077] Step 304, determining a first distance between a first coordinate point in the center line of the first lane and a second coordinate point in the first trajectory segment, wherein the first coordinate point is the coordinate point in the center line of the first lane that is closest to the target intersection, and the second coordinate point is the last trajectory point on the first trajectory segment.

[0078] In some embodiments, if the first trajectory segment is a vehicle traveling on the center line of a first lane, the first coordinate point and the second coordinate point may be the same coordinate point.

[0079] The last track point on the first track segment may be a track point that the vehicle last passes on the first track segment.

[0080] Step 305, determine the second distance between the third coordinate point in the center line of the second lane and the fourth coordinate point in the second trajectory, wherein the third coordinate point is the coordinate point in the center line of the second lane that is closest to the target intersection, and the fourth coordinate point is the first trajectory point on the second trajectory.

[0081] In some embodiments, if the second trajectory segment is the vehicle traveling on the center line of the second lane, the third coordinate point and the fourth coordinate point may be the same coordinate point.

[0082] The first track point on the second track segment may be the first track point passed by the vehicle on the second track segment.

[0083] Figure 4 A schematic diagram of a vehicle driving trajectory shown in some embodiments of the present disclosure, such as Figure 4 As shown, it is the driving trajectory of the vehicle turning left, the first coordinate point and the second coordinate point are both point A, and the third coordinate point and the fourth coordinate point are both point B.

[0084] Figure 5 A schematic diagram of another vehicle driving trajectory shown in some embodiments of the present disclosure, such as Figure 5 As shown, this is the driving trajectory of the vehicle turning right, the first coordinate point is A1, the second coordinate point is point A2, and the third coordinate point and the fourth coordinate point are both point B.

[0085] Figure 6 A schematic diagram of another vehicle driving trajectory shown in some embodiments of the present disclosure, such as Figure 6 As shown, it is the driving trajectory of the vehicle turning right, the first coordinate point and the second coordinate point are both point A, the third coordinate point is B1, and the fourth coordinate point is point B2.

[0086] Step 306 , determining a plurality of target coordinate points according to at least one of the first lane centerline and the first track segment, at least one of the second lane centerline and the second track segment, the first distance, and the second distance.

[0087] In some embodiments, when the first distance and the second distance are both less than the first threshold, it indicates that the vehicle is basically traveling along the center line of the lane, and multiple target coordinate points can be determined based on the first lane center line and the second lane center line.

[0088] In some embodiments, when the first distance and the second distance are both less than the first threshold, the coordinate point in the center line of the first lane whose distance from the first coordinate point is a preset distance is determined to be the first target coordinate point, the first coordinate point is the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point in the center line of the second lane whose distance from the third coordinate point is a preset distance is determined to be the fourth target coordinate point.

[0089] The first threshold may be half the width of a lane, such as 1.6 meters.

[0090] Figure 7 FIG. 1 is a schematic diagram of another target coordinate point shown in some embodiments of the present disclosure. Figure 7 As shown in , the vehicle driving trajectory is the vehicle turning left, P1 is the first target coordinate point, P2 is the second target coordinate point, P3 is the third target coordinate point, and P4 is the fourth target coordinate point. Figure 7 As shown, since the first distance and the second distance are both smaller than the first threshold, P1 and P2 are on the center line of the first lane, and P3 and P4 are on the center line of the second lane.

[0091] In some embodiments, when the first distance is greater than or equal to the first threshold and the second distance is less than the first threshold, it means that the vehicle did not travel along the center line of the first lane before entering the target intersection, and traveled along the center line of the second lane after exiting the target intersection. Therefore, multiple target coordinate points can be determined based on the first track and the center line of the second lane, so that the generated guide line is more in line with the user's driving track.

[0092] In some embodiments, when the first distance is greater than or equal to the first threshold and the second distance is less than the first threshold, the trajectory point in the first segment of the trajectory whose distance from the second target coordinate point is a preset distance is determined to be the first target coordinate point, the trajectory point in the first segment of the trajectory whose distance from the center line of the first lane is the first threshold is determined to be the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point in the center line of the second lane whose distance from the third coordinate point is a preset distance is determined to be the fourth target coordinate point.

[0093] Figure 8 FIG. 1 is a schematic diagram of another target coordinate point shown in some embodiments of the present disclosure. Figure 8 As shown, the vehicle driving trajectory is a right-turning trajectory of the vehicle, P1 is the first target coordinate point, P2 is the second target coordinate point, P3 is the third target coordinate point, and P4 is the fourth target coordinate point.

[0094] It should be noted that the first section extends to the front of the second section. It is difficult for the vehicle to drive to the second section after exiting the first section along the center line of the first lane. Therefore, in order to easily drive from the first section to the second section, the vehicle starts to turn right before exiting the first section, resulting in the vehicle not driving along the center line of the first lane, which may cause the first distance to be greater than or equal to the first threshold. Therefore, P1 and P2, P3 and P4 are determined from the first trajectory at the center line of the second lane.

[0095] In some embodiments, when the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, it means that the vehicle travels along the center line of the first lane before entering the target intersection and does not travel along the center line of the second lane after exiting the target intersection. Therefore, multiple target coordinate points can be determined based on the center line of the first lane and the second end trajectory, so that the generated guide line is more in line with the user's driving trajectory.

[0096] In some embodiments, when the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, the coordinate point in the center line of the first lane whose distance from the first coordinate point is a preset distance is determined to be the first target coordinate point, the first coordinate point is the second target coordinate point, the trajectory point in the second segment of the trajectory whose distance from the center line of the second lane is the first threshold is the third target coordinate point, and the trajectory point in the second segment of the trajectory whose distance from the third target coordinate point is the preset distance is the fourth target coordinate point.

[0097] Fig. 9 FIG. 1 is a schematic diagram of another target coordinate point shown in some embodiments of the present disclosure. Fig. 9 As shown, P1 is the first target coordinate point, P2 is the second target coordinate point, P3 is the third target coordinate point, and P4 is the fourth target coordinate point.

[0098] It should be noted that the second section extends to the front of the first section. It is difficult for the vehicle to drive along the center line of the second lane after exiting the first section along the center line of the first lane. Therefore, in order to easily drive from the first section to the second section, the vehicle can enter the second lane from other lanes of the second section after exiting the first section, which may cause the vehicle to not drive along the center line of the second lane when entering the second section, which may cause the second distance to be greater than or equal to the first threshold. Therefore, P1 and P2 are determined from the center line of the first lane, and P3 and P4 are determined from the second trajectory.

[0099] Step 307: determine a target control point based on multiple target coordinate points.

[0100] In some embodiments, the fifth coordinate point and the sixth coordinate point are determined based on the second target coordinate point and the third target coordinate point, and then the second target coordinate point is determined as the first target control point, the foot of the perpendicular from the fifth coordinate point to the first straight line is determined as the second target control point, the foot of the perpendicular from the sixth coordinate point to the second straight line is determined as the third target control point, and the third target coordinate point is determined as the fourth target control point, wherein the first straight line is the straight line where the first target coordinate point and the second target coordinate point are located, and the second straight line is the straight line where the third coordinate point and the fourth coordinate point are located.

[0101] In some embodiments, the difference between the third target coordinate point and the second target coordinate point is determined, a first product between the difference and the first numerical value, and a second product between the difference and the second numerical value are determined, wherein the second numerical value is greater than the first numerical value, the sum of the first product and the second target coordinate point is determined as the fifth coordinate point, and the sum of the second product and the third target coordinate point is determined as the sixth coordinate point.

[0102] The first value may be 0.3, and the second value may be 0.8.

[0103] In some embodiments, the formula for determining the fifth coordinate point O1 is O1=P2+(P3-P2)*0.3; the formula for determining the sixth coordinate point O2 is O1=P2+(P3-P2)*0.8.

[0104] Step 308: Generate a guide line corresponding to the target intersection based on the target control point.

[0105] In some embodiments, a guide line between a first lane where the center line of the first lane is located and a second lane where the center line of the second lane is located is generated based on a Bezier curve formula, a first target control point, a second target control point, a third target control point and a fourth target control point.

[0106] In some embodiments, a point on the guide line is generated by 1m, and the distance d between points p2 and p3 is calculated. Then, the number of points generated by the guide line is (n=d / 1m). For the i-th (0≤i≤n) point, its parameter t=i / n on the Bezier curve spline, and its coordinates are:

[0107] p=(1-t) 3 C 0 +3*t*(1-t) 2 C 1 +3*t 2 *(1-t)C 2 +t 3 *C 3 , t∈[0,1]

[0108] Among them, C 0is the first target control point, C 1 is the second target control point, C 2 is the third target control point, C 3 It is the fourth target control point.

[0109] In the disclosed embodiment, a vehicle driving trajectory in a target area to which a target intersection belongs is first acquired, and then a first segment of the vehicle driving trajectory and a corresponding first lane centerline, and a second segment of the vehicle driving trajectory and a corresponding second lane centerline are determined, and then a first distance between a first coordinate point in the centerline of the first lane and a second coordinate point in the first segment of the trajectory, and a second distance between a third coordinate point in the centerline of the second lane and a fourth coordinate point in the second segment of the trajectory are determined, and based on at least one item of the first lane centerline and the first segment of the trajectory, at least one item of the second lane centerline and the second segment of the trajectory, the first distance and the second distance, a plurality of target coordinate points are determined, and based on the plurality of target coordinate points, a target control point is determined, and finally, based on the target control point, a guide line corresponding to the target intersection is generated. Therefore, it is possible to determine whether to select the target coordinate point for generating the target control point from the vehicle's driving trajectory or the lane centerline based on the vehicle's trajectory point when entering the target intersection and the first distance from the center line of the first lane, and the vehicle's trajectory point when exiting the target intersection and the second distance from the center line of the second lane, so that the generated guide line is more consistent with the user's driving trajectory when driving the vehicle, and the generated guide line is convenient for the autonomous driving vehicle to control the vehicle more accurately when passing the target intersection.

[0110] In some embodiments, after determining the guide line between the first lane and the second lane, a road topology map corresponding to the target area can be generated according to the target map corresponding to the target area and the guide line. The road topology map of the target area can then be sent to the vehicle, thereby providing guide line information for the autonomous driving vehicle when passing through the intersection.

[0111] Fig.10 Schematic diagram of a road topology diagram shown in some embodiments of the present disclosure. Fig.10 As shown, the line connecting the two lanes in the middle area is the guide line.

[0112] In order to implement the above embodiment, the present disclosure also proposes a device for generating intersection guide lines.

[0113] Fig.11 is a block diagram of a device for generating a guide line at an intersection according to some embodiments of the present disclosure. Fig.11 The intersection guide line generating device 1100 includes:

[0114] An acquisition module 1101 is used to acquire vehicle driving trajectories within a target area of ​​a target intersection;

[0115] The first determination module 1102 is used to determine a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is the vehicle's trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is the vehicle's trajectory after the vehicle exits the target intersection;

[0116] A second determination module 1103 is used to determine a target control point according to the first track segment and the second track segment;

[0117] The generating module 1104 is used to generate a guide line corresponding to the target intersection based on the target control point.

[0118] In some embodiments, the second determining module 1103 is configured to:

[0119] Determine a first lane centerline corresponding to the first trajectory segment and a second lane centerline corresponding to the second trajectory segment;

[0120] A target control point is determined according to the center line of the first lane, the center line of the second lane, the first track segment, and the second track segment.

[0121] In some embodiments, the second determining module 1103 is configured to:

[0122] Determine a first distance between a first coordinate point in the centerline of the first lane and a second coordinate point in the first track segment, wherein the first coordinate point is the coordinate point in the centerline of the first lane that is closest to the target intersection, and the second coordinate point is the last track point on the first track segment;

[0123] Determine a second distance between a third coordinate point in the center line of the second lane and a fourth coordinate point in the second track segment, wherein the third coordinate point is a coordinate point in the center line of the second lane that is closest to the target intersection, and the fourth coordinate point is the first track point on the second track segment;

[0124] Determine a plurality of target coordinate points according to at least one of the first lane centerline and the first track segment, at least one of the second lane centerline and the second track segment, the first distance, and the second distance;

[0125] Based on multiple target coordinate points, a target control point is determined.

[0126] In some embodiments, the second determining module 1103 is configured to:

[0127] When the first distance and the second distance are both less than the first threshold value, the coordinate point in the center line of the first lane whose distance from the first coordinate point is the preset distance is determined as the first target coordinate point, the first coordinate point is the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point in the center line of the second lane whose distance from the third coordinate point is the preset distance is determined as the fourth target coordinate point; or,

[0128] When the first distance is greater than or equal to the first threshold value and the second distance is less than the first threshold value, the trajectory point in the first trajectory whose distance from the second target coordinate point is the preset distance is determined as the first target coordinate point, the trajectory point in the first trajectory whose distance from the center line of the first lane is the first threshold value is determined as the second target coordinate point, the third coordinate point is the third target coordinate point, and the coordinate point in the center line of the second lane whose distance from the third coordinate point is the preset distance is determined as the fourth target coordinate point; or,

[0129] When the first distance is less than the first threshold and the second distance is greater than or equal to the first threshold, the coordinate point in the center line of the first lane whose distance from the first coordinate point is the preset distance is determined to be the first target coordinate point, the first coordinate point is the second target coordinate point, the trajectory point in the second segment of the trajectory whose distance from the center line of the second lane is the first threshold is the third target coordinate point, and the trajectory point in the second segment of the trajectory whose distance from the third target coordinate point is the preset distance is the fourth target coordinate point.

[0130] In some embodiments, the second determining module 1103 is configured to:

[0131] Determine the fifth coordinate point and the sixth coordinate point according to the second target coordinate point and the third target coordinate point;

[0132] Determine the second target coordinate point as the first target control point, the foot of the perpendicular from the fifth coordinate point to the first straight line as the second target control point, the foot of the perpendicular from the sixth coordinate point to the second straight line as the third target control point, and the third target coordinate point as the fourth target control point, wherein the first straight line is the straight line where the first target coordinate point and the second target coordinate point are located, and the second straight line is the straight line where the third coordinate point and the fourth coordinate point are located.

[0133] In some embodiments, the second determining module 1103 is configured to:

[0134] Determine the difference between the third target coordinate point and the second target coordinate point;

[0135] determining a first product between the difference value and a first value, and a second product between the difference value and a second value, wherein the second value is greater than the first value;

[0136] The sum of the first product and the second target coordinate point is determined as the fifth coordinate point;

[0137] The sum of the second product and the third target coordinate point is determined as the sixth coordinate point.

[0138] In some embodiments, the generating module 1104 is configured to:

[0139] A guide line between a first lane where a center line of the first lane is located and a second lane where a center line of the second lane is located is generated based on a Bezier curve formula, a first target control point, a second target control point, a third target control point and a fourth target control point.

[0140] In some embodiments, the second determining module 1103 is configured to:

[0141] Obtaining a target map corresponding to the target area, wherein the target map includes each road section and a lane centerline corresponding to each lane in each road section;

[0142] Determine a first road section corresponding to the first track section according to a first position and a first direction corresponding to the first track section and a second position and a second direction corresponding to each road section;

[0143] Determine the second road section corresponding to the second track section according to the third position and the third direction corresponding to the second track section and the second position and the second direction corresponding to each road section;

[0144] Determine the center line of the lane with the smallest distance from the first track segment in the first road segment as the center line of the first lane;

[0145] The center line of the lane with the smallest distance from the second track segment in the second road segment is determined as the center line of the second lane.

[0146] In some embodiments, the acquisition module 1101 is used to:

[0147] Obtain the historical driving trajectories of multiple vehicles in the target area;

[0148] Clustering the multiple historical driving trajectories to obtain at least one cluster, wherein each historical driving trajectory in the cluster is located in the same lane;

[0149] The historical driving trajectories in each cluster are fused to obtain the vehicle driving trajectory corresponding to each cluster.

[0150] In some embodiments, the acquisition module 1101 is used to:

[0151] In the case where the shape of at least one historical driving trajectory in the cluster is a curve, each historical driving trajectory is divided into a first driving trajectory and a second driving trajectory based on the inflection point of each historical driving trajectory, wherein the first driving trajectory includes a trajectory of the vehicle entering the target intersection, and the second driving trajectory includes a trajectory of the vehicle exiting the target intersection;

[0152] Fusing the first driving trajectory in each historical driving trajectory to obtain a first fused trajectory;

[0153] Fusing the second driving trajectory in each historical driving trajectory to obtain a second fused trajectory;

[0154] The first fused trajectory is concatenated with the second fused trajectory to obtain the vehicle driving trajectory corresponding to the cluster.

[0155] In some embodiments, the system further includes a processing module for:

[0156] According to the target map corresponding to the target area and the guide line, a road topology map corresponding to the target area is generated.

[0157] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0158] The device for generating the guide line of the intersection of the embodiment of the present disclosure obtains the vehicle driving trajectory in the target area to which the target intersection belongs, then determines the first segment of the vehicle driving trajectory and the second segment of the vehicle driving trajectory, then determines the target control point based on the first segment of the trajectory and the second segment of the trajectory, and finally generates the guide line corresponding to the target intersection based on the target control point. Thus, the target control point for generating the guide line can be determined according to the driving trajectory of the vehicle when passing through the target intersection, and then based on the target control point, the guide line corresponding to the target intersection is automatically generated in combination with the Bezier curve, without the need for manual participation, saving labor costs and improving the efficiency of generating the guide line.

[0159] Fig.12 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Fig.12 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0160] like Fig.12 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0161] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0162] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0163] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Fig.12 not shown, usually called a "hard drive"). Although Fig.12 Not shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the various embodiments of the present disclosure.

[0164] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0165] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 12, and / or may communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 via a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0166] The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, such as implementing the methods mentioned in the above embodiments.

[0167] In order to implement the above embodiments, the present disclosure further proposes a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the method for generating intersection guide lines proposed in the above embodiments of the present disclosure is implemented.

[0168] In order to implement the above embodiments, the present disclosure further proposes a computer program product, including a computer program, which, when executed by a processor, implements the method for generating intersection guide lines as proposed in the above embodiments of the present disclosure.

[0169] Fig.13 is a schematic diagram of the structure of the chip proposed in the embodiment of the present disclosure. Fig.13 The structure of the chip 1300 is shown, but is not limited to this.

[0170] The chip 1300 includes a processing circuit 1301 , and the processing circuit 1301 is configured to execute any of the above methods.

[0171] In some embodiments, the chip 1300 further includes one or more interface circuits 1302. Optionally, the interface circuit 1302 is connected to the memory 1303. The interface circuit 1302 can be used to receive signals from the memory 1303 or other devices, and the interface circuit 1302 can be used to send signals to the memory 1303 or other devices. For example, the interface circuit 1302 can read instructions stored in the memory 1303 and send the instructions to the processing circuit 1301.

[0172] In some embodiments, the interface circuit 1302 performs at least one of the communication steps such as sending and / or receiving in the above method, and the processing circuit 1301 performs other steps.

[0173] In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

[0174] In some embodiments, the chip 1300 further includes one or more memories 1303 for storing instructions. Alternatively, all or part of the memory 1303 may be outside the chip 1300.

[0175] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0176] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise noted, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although the specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and conducive to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in the specific embodiments or claims, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0177] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0178] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for generating a guide line at an intersection, characterized in that: The method comprises: Obtain the vehicle driving trajectory within the target area of ​​the target intersection; Determine a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is a trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is a trajectory after the vehicle exits the target intersection; Determine a target control point according to the first trajectory and the second trajectory; Based on the target control point, a guide line corresponding to the target intersection is generated.

2. The method according to claim 1, characterized in that: The step of determining the target control point according to the first track segment and the second track segment includes: Determine a first lane centerline corresponding to the first trajectory segment and a second lane centerline corresponding to the second trajectory segment; The target control point is determined according to the first lane centerline, the second lane centerline, the first track segment, and the second track segment.

3. The method according to claim 2, characterized in that The determining the target control point according to the first lane centerline, the second lane centerline, the first track segment, and the second track segment includes: Determine a first distance between a first coordinate point in the centerline of the first lane and a second coordinate point in the first segment of the trajectory, wherein the first coordinate point is the coordinate point in the centerline of the first lane that is closest to the target intersection, and the second coordinate point is the last trajectory point on the first segment of the trajectory; Determine a second distance between a third coordinate point in the centerline of the second lane and a fourth coordinate point in the second track segment, wherein the third coordinate point is the coordinate point in the centerline of the second lane that is closest to the target intersection, and the fourth coordinate point is the first track point on the second track segment; Determine a plurality of target coordinate points according to at least one of the first lane centerline and the first track segment, at least one of the second lane centerline and the second track segment, the first distance, and the second distance; Based on the multiple target coordinate points, the target control point is determined.

4. The method according to claim 3, characterized in that The determining of a plurality of target coordinate points according to at least one of the first lane centerline and the first track segment, at least one of the second lane centerline and the second track segment, the first distance and the second distance comprises: When the first distance and the second distance are both less than the first threshold value, a coordinate point in the center line of the first lane whose distance from the first coordinate point is a preset distance is determined as the first target coordinate point, the first coordinate point is the second target coordinate point, the third coordinate point is the third target coordinate point, and a coordinate point in the center line of the second lane whose distance from the third coordinate point is a preset distance is determined as the fourth target coordinate point; or When the first distance is greater than or equal to the first threshold value and the second distance is less than the first threshold value, the trajectory point in the first segment of the trajectory whose distance from the second target coordinate point is a preset distance is determined as the first target coordinate point, the trajectory point in the first segment of the trajectory whose distance from the center line of the first lane is a first threshold value is determined as the second target coordinate point, the third coordinate point is determined as the third target coordinate point, and the coordinate point in the center line of the second lane whose distance from the third coordinate point is a preset distance is determined as the fourth target coordinate point; or When the first distance is less than a first threshold value and the second distance is greater than or equal to the first threshold value, the coordinate point in the center line of the first lane whose distance from the first coordinate point is a preset distance is determined as the first target coordinate point, the first coordinate point is the second target coordinate point, the trajectory point in the second segment of the trajectory whose distance from the center line of the second lane is the first threshold is the third target coordinate point, and the trajectory point in the second segment of the trajectory whose distance from the third target coordinate point is a preset distance is the fourth target coordinate point.

5. The method according to claim 4, characterized in that The step of determining the target control point based on the multiple target coordinate points includes: Determine a fifth coordinate point and a sixth coordinate point according to the second target coordinate point and the third target coordinate point; Determine the second target coordinate point as the first target control point, the foot of the perpendicular from the fifth coordinate point to the first straight line as the second target control point, the foot of the perpendicular from the sixth coordinate point to the second straight line as the third target control point, and the third target coordinate point as the fourth target control point, wherein the first straight line is the straight line where the first target coordinate point and the second target coordinate point are located, and the second straight line is the straight line where the third coordinate point and the fourth coordinate point are located.

6. The method according to claim 5, characterized in that The step of determining the fifth coordinate point and the sixth coordinate point according to the second target coordinate point and the third target coordinate point includes: Determine the difference between the third target coordinate point and the second target coordinate point; Determine a first product between the difference and a first value, and a second product between the difference and a second value, wherein the second value is greater than the first value; Determine the sum of the first product and the second target coordinate point as the fifth coordinate point; The sum of the second product and the third target coordinate point is determined as the sixth coordinate point.

7. The method according to claim 5, characterized in that The step of generating a guide line corresponding to the target intersection based on the target control point includes: Based on the Bezier curve formula, the first target control point, the second target control point, the third target control point and the fourth target control point, a guide line is generated between a first lane where the center line of the first lane is located and a second lane where the center line of the second lane is located.

8. The method according to claim 2, characterized in that: The determining of a first lane centerline corresponding to the first trajectory segment and a second lane centerline corresponding to the second trajectory segment includes: Acquire a target map corresponding to the target area, wherein the target map includes each road section and a lane centerline corresponding to each lane in each road section; Determine a first road section corresponding to the first track section according to a first position and a first direction corresponding to the first track section and a second position and a second direction corresponding to each of the road sections; Determine the second road section corresponding to the second track section according to the third position and the third direction corresponding to the second track section and the second position and the second direction corresponding to each of the road sections; Determine the center line of the lane with the smallest distance from the first track segment in the first road segment as the center line of the first lane; A lane centerline in the second road section that has the smallest distance from the second track segment is determined as the second lane centerline.

9. The method according to claim 1, characterized in that: The step of obtaining the vehicle driving trajectory within the target area of ​​the target intersection includes: Acquire historical driving trajectories of multiple vehicles in the target area; Clustering the plurality of historical driving trajectories to obtain at least one cluster, wherein each historical driving trajectory in the cluster is located in the same lane; The historical driving trajectories in each of the clusters are fused to obtain the vehicle driving trajectory corresponding to each of the clusters.

10. The method according to claim 9, characterized in that The fusing of the historical driving trajectories in each of the clusters to obtain the vehicle driving trajectory corresponding to each of the clusters includes: In the case where the shape of at least one historical driving trajectory in the cluster is a curve, each of the historical driving trajectories is divided into a first driving trajectory and a second driving trajectory based on an inflection point of each of the historical driving trajectories, wherein the first driving trajectory includes a trajectory of the vehicle entering the target intersection, and the second driving trajectory includes a trajectory of the vehicle exiting the target intersection; Fusing the first driving trajectory in each of the historical driving trajectories to obtain a first fused trajectory; Fusing the second driving trajectory in each of the historical driving trajectories to obtain a second fused trajectory; The first fused trajectory and the second fused trajectory are spliced ​​to obtain the vehicle driving trajectory corresponding to the cluster.

11. The method according to any one of claims 1 to 10, characterized in that: After generating the guide line corresponding to the target intersection based on the target control point, the method further includes: A road topology map corresponding to the target area is generated according to the target map corresponding to the target area and the guide line.

12. A method and device for generating a guide line at an intersection, characterized in that: The device comprises: An acquisition module is used to acquire the vehicle driving trajectory within the target area of ​​the target intersection; A first determination module is used to determine a first segment of the vehicle's driving trajectory and a second segment of the vehicle's driving trajectory, wherein the first segment of the vehicle's driving trajectory is the vehicle's trajectory before the vehicle enters the target intersection, and the second segment of the vehicle's driving trajectory is the vehicle's trajectory after the vehicle exits the target intersection; A second determination module, used for determining a target control point according to the first track segment and the second track segment; A generation module is used to generate a guide line corresponding to the target intersection based on the target control point.

13. An electronic device, characterized in that: include: processor; A memory for storing processor-executable instructions; wherein the processor is configured to: implement the steps of the method described in any one of claims 1-11.

14. A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor, the steps of the method according to any one of claims 1 to 11 can be performed.

15. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 11 when being executed by a processor.

16. A chip, characterized in that: The chip includes a processing unit and an interface circuit, the processing unit obtains program instructions through the interface circuit, the program instructions are executed by the processing unit, and the processing unit is used to execute the steps of the method as claimed in any one of claims 1-11.

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